function plotMode(estShape, V, lambda, N)
figure;
drawSingleShape(estShape,'r');
L = 1;
shapeL1 = estShape;
shapeL1(1,:) = estShape(1,:)+ sqrt(lambda(N))*L*V(1:3,N)';
shapeL1(2,:) = estShape(2,:)+ sqrt(lambda(N))*L*V(3+1:2*3,N)';
drawSingleShape(shapeL1,'b');
L = -1;
shapeL_1 = estShape;
shapeL_1(1,:) = estShape(1,:)+ sqrt(lambda(N))*L*V(1:3,N)';
shapeL_1(2,:) = estShape(2,:)+ sqrt(lambda(N))*L*V(3+1:2*3,N)';
drawSingleShape(shapeL_1,'b');

L = 2;
shapeL1 = estShape;
shapeL1(1,:) = estShape(1,:)+ sqrt(lambda(N))*L*V(1:3,N)';
shapeL1(2,:) = estShape(2,:)+ sqrt(lambda(N))*L*V(3+1:2*3,N)';
drawSingleShape(shapeL1,'g');
L = -2;
shapeL_1 = estShape;
shapeL_1(1,:) = estShape(1,:)+ sqrt(lambda(N))*L*V(1:3,N)';
shapeL_1(2,:) = estShape(2,:)+ sqrt(lambda(N))*L*V(3+1:2*3,N)';
drawSingleShape(shapeL_1,'g');

L = 3;
shapeL1 = estShape;
shapeL1(1,:) = estShape(1,:)+ sqrt(lambda(N))*L*V(1:3,N)';
shapeL1(2,:) = estShape(2,:)+ sqrt(lambda(N))*L*V(3+1:2*3,N)';
drawSingleShape(shapeL1,'g');
L = -3;
shapeL_1 = estShape;
shapeL_1(1,:) = estShape(1,:)+ sqrt(lambda(N))*L*V(1:3,N)';
shapeL_1(2,:) = estShape(2,:)+ sqrt(lambda(N))*L*V(3+1:2*3,N)';
drawSingleShape(shapeL_1,'y');